Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
Next revisionBoth sides next revision
jobs [2014/04/15 15:48] – [Theses and Jobs] jworchjobs [2021/04/16 08:41] – [Theses and Student Jobs] kording
Line 1: Line 1:
 ~~NOTOC~~ ~~NOTOC~~
-=====Theses and Jobs=====+ 
 +=====Open researcher positions===== 
 + 
 +====Digital Twin Knowledge Base for submarine robot inspection/manipulation==== 
 +The Institute for Artificial Intelligence (IAI) investigates methods for cognition-enabled robot control. The research is at the intersection of robotics and Artificial Intelligence and includes methods for intelligent perception, dexterous object manipulation, plan-based robot control, and knowledge representation for robots.  
 + 
 +As a researcher of the IAI, you actively research by applying and extending the elaborated methods and tools of the IAI (e.g., CRAM, KnowRoB, and openEASE) to the uncertainties of limited resources, computation, and sensor data of submarine robots. You develop a Digital Twin that simulates harsh continuously evolving environments and service tasks on real robots. You design a detailed representation of an environment to be inspected, including data coming from past inspections, both similar and different (e.g., transfer learning from an inspection of the interior of an installation). Your research will be especially the environment representation, semantic annotation, and sensor data fusion deal with noisy data and unreliable information in dynamic environments. You work with IAI researchers and engineers of the ROSEN Group, implementing a service for underwater pipeline inspection and maintenance. 
 + 
 +**Prerequisites:** You have a strong background in some of the following fields: 
 +  * Digital Twins  
 +  * Knowledge Representation 
 +  * Data structures 
 +  * Data Stream Representation.  
 + 
 +**Hiring institution:** University of Bremen 
 + 
 +**PhD Enrollment:** PhD position in the Institute for Artificial Intelligence at University of Bremen. The project involves collaboration with ROSEN in Bremen and UiO in Oslo.  
 + 
 +The PhD examination acceptance requires a “Certificate of Equivalence for Foreign Vocational Qualifications”. More information available at [[https://www.kmk.org/zab/central-office-for-foreign-education/certificate-of-equivalence.html]] and [[https://www.uni-bremen.de/fileadmin/user_upload/sites/international/Studieren_in_Bremen/AnerkennungPromotion.pdf]] . Obtaining such a certificate is not necessary for the job application, but it is required later in the recruitment process. 
 + 
 +**Duration of the project:** 36 months 
 + 
 +**Main Academic Supervisor:** Prof. Michael Beetz, contact: beetz@cs.uni-bremen.de 
 + 
 +**Co-supervisors:** prof. Einar Broch Johnsen (UiO, Norway), dr. Peter Kampmann (ROSEN, Germany) 
 +=====Theses and Student Jobs=====
 If you are looking for a bachelor/master thesis or a job as a student research assistant, you may find some interesting opportunities on this page. If you are looking for a bachelor/master thesis or a job as a student research assistant, you may find some interesting opportunities on this page.
  
-== Web-based knowledge visualizations (BA/HiWi) == 
  
-{{ :research:knowledge-visualization.png?200}} 
  
-The knowledge base visualization allows to display semantic environment maps, + 
-objects, human poses, trajectories and similar information stored in the +<html><!-- 
-robot's knowledge base. Its [[http://www.ros.org/wiki/mod_vis|current version]] +== Knowledge-enabled PID Controller for 3D Hand Movements in Virtual Environments (BA/MA Thesis) == 
-is written in Java and has grown old over the years. Recently, there has been + 
-much progress in creating [[http://www.ros.org/wiki/interactive_markers|interactive +Implementing a force-, velocity- and impulse-based PID controller for precise and responsive hand movements in a virtual environment. The virtual environment used in Unreal Engine in combination with Virtual Reality devices. The movements 
-3D visualizations]] for ROS that can also be accessed with a +of the human user will be mapped to the virtual hands, and controlled via the implemented PID controllers. 
-[[http://www.ros.org/wiki/wviz|web browser]]. This project is about creating +The controller should be able to dynamically tune itself depending on the executed actions (opening/closing a drawer or lifting a heavy object) in combination with the physical limitations of the physics engine (dynamic update rates).
-a web-based version of the visualization using these techniques.+
  
 Requirements: Requirements:
-  * Good programming skills +  * Good C++ programming skills 
-  * Experience with JavaScript development +  * Familiar with PID controllers and control theory 
-  * Knowledge of Web technologies (HTML, XML, OWL)+  * Experience with simulators/physics-/game- engines 
 +  * Familiar with Unreal Engine API 
 +  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision
  
-Contact: [[team:moritz_tenorth|Moritz Tenorth]]+Contact: [[team:andrei_haidu|Andrei Haidu]] 
 +--></html>
  
  
-== Tools for knowledge acquisition from the Web (BA/MA/HiWi) == 
  
-There are several options for doing a project related to the acquisition of +<html><!-- 
-knowledge from Web sources like online shops, repositories of object models, +== Natural Physics-based Grasping in Virtual Environments (BA/MA Thesis) == 
-recipe databases, etc.+ 
 +Implementing physics-based grasping models in virtual environments, taking input 
 +from various devices such as Manus VR or Valve Index.
  
 Requirements: Requirements:
-  * Programing skills (Java) +  * Good C++ programming skills 
-  * Experience with Web languages and datamining techniques is helpful +  * Familiar with skeletal animations 
-  * Depending on the focus of the project, experience with database technology, natural-language processing or computer vision may be helpful+  * Experience with simulators/physics-/game- engines 
 +  * Familiar with Unreal Engine API 
 +  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision
  
-Contact: [[team:moritz_tenorth|Moritz Tenorth]]+Contact: [[team:andrei_haidu|Andrei Haidu]] 
 +--></html>
  
  
-== GPU-based Parallelization of Numerical Optimization Techniques (BA/MA/HiWi)==+<html><!-- 
 +== Lisp / CRAM support assistant (HiWi) ==
  
-In the field of Machine Learning, numerical optimization techniques play a focal role. However, as models grow larger, traditional implementations on single-core CPUs suffer from sequential execution causing a severe slow-down. In this thesis, state-of-the-art GPU frameworks (e.g. CUDA) are to be investigated in order implement numerical optimizers that substantially profit from parallel execution.+Technical support for the group for Lisp and the CRAM framework. \\ 
 +8+ hours per week for up to 1 year (paid).
  
 Requirements: Requirements:
-  * Skills in numerical optimization algorithms +  * Good programming skills in Common Lisp 
-  * Good programming skills in Python and C/C+++  * Basic ROS knowledge
  
-Contact: [[team:daniel_nyga|Daniel Nyga]]+The student will be introduced to the CRAM framework at the beginning of the job, which is a robot programming framework written in Lisp. The student will then be responsible for assisting not familiar with the framework people, explaining them the parts they don't understand and pointing them to the relevant documentation sources.
  
-== Online Learning of Markov Logic Networks for Natural-Language Understanding (MA)==+Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]] 
 +--></html>
  
-Markov Logic Networks (MLNs) combine the expressive power of first-order logic and probabilistic graphical models. In the past, they have been successfully applied to the problem of semantically interpreting and completing natural-language instructions from the web. State-of-the-art learning techniques mostly operate in batch mode, i.e. all training instances need to be known in the beginning of the learning process. In context of this thesis, online learning methods for MLNs are to be investigated, which allow incremental learning, when new examples come in one-by-one.+<html><!-- 
 +== Mesh Editing / Mesh Segmentation/Cutting (Student Job / HiWi)== 
 + {{ :research:human_hand_cutting.png?150|}} 
 + 
 + Editing and cutting a human mesh into different parts in Blender / Maya (or other).
  
 Requirements: Requirements:
-  * Experience in Machine Learning. +  * Good knowledge in 3D Modeling 
-  * Experience with statistical relational learning (e.g. MLNs) is helpful. +  * Familiar with Blender / Maya (or other)
-  * Good programming skills in Python.+
  
-Contact: [[team:daniel_nyga|Daniel Nyga]]+Contact: [[team/mona_abdel-keream|Mona Abdel-Keream]] 
 +--></html>
  
  
-==HiWi-Position: Knowledge Representation & Language Understanding for Intelligent Robots== 
  
-In the context of the European research project RoboHow.Cog [1,2] we +<html><!-- 
-are investigating methods for combining multimodal sources of knowledge (e.g. video, natural-language recipes or computer games), in order to enable mobile robots to autonomously acquire new high level skills like cooking meals or straightening up rooms.  +== 3D animation and model developer (Student Job / HiWi)== 
 + {{ :research:kitchen_unreal.jpg?200|}} 
  
-The Institute for Artificial Intelligence is hiring a student researcher for the +Developing and improving existing or new 3D (static/skeletal) 
-development and the integration of probabilistic methods in AI, which enable intelligent robots to understand, interpret and execute natural-language instructions from recipes from the World Wide Web.+models in Blender / Maya (or other). Further importing and testing the 
 +models against Unreal Engine.
  
-This HiWi-Position can serve as a starting point for future Bachelor's, Master's or Diploma Theses.+Bonus: Working with state of the art 3D Scanners [[https://www.goscan3d.com/|Go!SCAN]] for creating sketching new models.
  
-Tasks: +Requirements: 
-  * Implementation of an interface to the Robot Operating System (ROS). +  * Experience with Blender / Maya (or other) 
-  * Linkage of the knowledge base to the executive of the robot. +  * Knowledge of Unreal Engine material / lightning development 
-  * Support for the scientific staff in extending and integrating components onto the robot platform PR2.+  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision 
 + 
 +Contact: [[team:andrei_haidu|Andrei Haidu]] 
 +--></html> 
 + 
 + 
 +<html><!-- 
 +== Integrating PR2 in the Unreal Game Engine Framework (BA/MA/HiWi)== 
 + {{ :research:unreal_ros_pr2.png?100|}}  
 + 
 +Integrating the [[https://www.willowgarage.com/pages/pr2/overview|PR2]] robot with [[http://www.ros.org/|ROS]] support in the [[https://www.unrealengine.com|Unreal Engine 4]] Framework.
  
 Requirements: Requirements:
-  * Studies in Computer Science (Bachelor's, Master's or Diploma) +  * Good programming skills in C/C++ 
-  * Basic skills in Artificial Intelligence +  * Basic physics/rendering engine knowledge 
-  * Optional: basic skills in Probability Theory +  * Basic ROS knowledge 
-  * Optional: basic skills in Machine Learning +  * UE4 basic tutorials
-  * Good programming skills in Python and Java+
  
-Hours: 10-20 h/week+Contact: [[team:andrei_haidu|Andrei Haidu]]
  
-Contact: [[team:daniel_nyga|Daniel Nyga]] 
  
-[1] www.robohow.eu\\ +== Realistic Grasping using Unreal Engine (BA/MA/HiWi) ==
-[2] http://www.youtube.com/watch?v=0eIryyzlRwA+
  
-== HiWi position: Segmentation and interpretation of 3D object models (HiWi/MA) ==+{{  :teaching:gsoc:topic2_unreal.png?nolink&150|}}
  
-{{ :research:cup2-segmented.png?170}}+The objective of the project is to implement var- 
 +ious human-like grasping approaches in a game developed using [[https://www.unrealengine.com/|Unreal Engine]]. 
  
-Competent object interaction requires knowledge about the structure and +The game consist of a household environment where a user has to execute various given tasks, such as cooking a dish, setting the table, cleaning the dishes etc. The interaction is done using various sensors to map the users hands onto the virtual hands in the game.
-composition of objects. In an ongoing research project, we are investigating +
-how part-based object models can automatically be extracted from CAD models +
-found on the Web, e.g. on the [[http://sketchup.google.com/3dwarehouse|3D warehouse]].+
  
-We are looking for a student research assistant to push this topic forward. +In order to improve the ease of manipulating objects the user should 
-In close collaboration with the researchers of the Institute for Artificial +be able to switch during runtime the type of grasp (pinch, power 
-Intelligence, the student will work on extending the software for mesh +grasp, precision grip etc.) he/she would like to use. 
-segmentation, implement novel algorithms, improve the integration of the +   
-methods into the robot's knowledge base, and update the modules for visualizing +Requirements:  
-the segmentation results. Depending on the results, cooperation on joint  +  * Good programming skills in C++ 
-publications may be possible.+  * Good knowledge of the Unreal Engine API.  
 +  * Experience with skeletal control / animations / 3D models in Unreal Engine. 
 +  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision 
 + 
 + 
 +Contact: [[team/andrei_haidu|Andrei Haidu]] 
 +--></html> 
 + 
 +<html><!-- 
 +== Unreal Engine Editor Developer (Student Job / HiWi)== 
 + {{ :research:unreal_editor.png?150|}}  
 + 
 +Creating new user interfaces (panel customization) for various internal plugins using the Unreal C++ framework [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]].
  
-This HiWi position can serve as a starting point for future Bachelor's, 
-Master's or Diploma Theses. Alternatively, we could extract a research 
-project that could be worked on as a Master's or Diploma Thesis. 
  
 Requirements: Requirements:
-  * Good Java programming skills +  * Good C++ programming skills 
-  * Basic knowledge of 3D geometry calculations +  * Familiar with the [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]] framework 
-  * Experience with working with 3D models is helpful+  * Familiar with Unreal Engine API 
 +  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision
  
-Contact: [[team:moritz_tenorth|Moritz Tenorth]]+Contact: [[team:andrei_haidu|Andrei Haidu]]
  
-== Depth-Adaptive Superpixels (BA/HiWi)== 
  
-We are currently investigating a new set of sensors (RGB-D-T), which is a combination of a kinect with a thermal image camera. Within this project we want to enhance the Depth-Adaptive Superpixels (DASP) to make use of the thermal sensor data. Depth-Adaptive Superpixels oversegment an image taking into account the depth value of each pixel. {{ :research:dt_dasp.png?200|}} 
  
-Since the current implementation of DASP is not very performant for high resolution images, there are several possibilities options for doing a project in this field like reimplementing DASP using the CUDA, investigating how thermal data can be integrated, ...+== OpenEASE rendering in Unreal Engine (BA/MA Thesis, Student Job / HiWi)== 
 + 
 + 
 +Implmenting the rendering of the [[https://data.open-ease.org/|OpenEASE]] knowledge base visualization in Unreal Engine. This will have to be packaged as a HTML5 executable and inserted into the website.
  
 Requirements: Requirements:
-  * Basic knowledge of image processing +  * Good C++ programming skills 
-  * Good programming skills in C/C++. +  * Familiar with Unreal Engine API 
-  * Experience with CUDA is helpful+  * Familiar with HTML5 and JavaScript 
 +  * Familiar with the [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]] framework 
 +  * Familiar with basic ROS communication 
 +  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision 
 + 
 +Contact: [[team:andrei_haidu|Andrei Haidu]] 
 + 
 +<html><!-- 
 +== Knowledge-enabled PID Controller for 3D Hand Movements in Virtual Environments (BA/MA Thesis) == 
 + 
 +Implementing a force-, velocity- and impulse-based PID controller for precise and responsive hand movements in a virtual environment. The virtual environment used in Unreal Engine in combination with Virtual Reality devices. The movements 
 +of the human user will be mapped to the virtual hands, and controlled via the implemented PID controllers. 
 +The controller should be able to dynamically tune itself depending on the executed actions (opening/closing a drawer or lifting a heavy object) in combination with the physical limitations of the physics engine (dynamic update rates). 
 + 
 +Requirements: 
 +  * Good C++ programming skills 
 +  * Familiar with PID controllers and control theory 
 +  * Experience with simulators/physics-/game- engines 
 +  * Familiar with Unreal Engine API 
 +  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision 
 + 
 +Contact: [[team:andrei_haidu|Andrei Haidu]] 
 +--></html> 
 + 
 +== Sprachgesteuertes Leitsystem (BA Thesis) == 
 + 
 +Weiterentwicklung eines sprachgesteuerten Leitsystems zu gesuchten Produkten im Einzelhandel für Smartphones (Android) basierend auf Ankerpunkten und einer Anbindung an Wissensgraphen. 
 +Dabei wird auf bestehende Apps aufgebaut.  
 + 
 +Aufgaben: 
 +  * App Entwicklung mit der Unity game engine und Flutter  
 +  * Erweiterung der Sprachsteuerung 
 +  * Arbeit mit Wissensrepräsentation und Wissensgraphen für die Sprachsteuerung 
 + 
 + 
 +Contact: [[team:michaela_kümpel|Michaela Kümpel]] 
 + 
 +== Sprachauswahl für Shopping Assistenten (BA Thesis) == 
 + 
 +Weiterentwicklung eines Produktinformationssystems im Einzelhandel für Smartphones (Android) um eine Sprachauswahl. Anzeige der jeweiligen Informationen in der gewünschten Sprache. 
 +Dabei wird auf bestehende Apps aufgebaut.  
 + 
 +Aufgaben: 
 +  * App Entwicklung mit der Unity game engine und Flutter  
 +  * Erweiterung der App um eine Sprachauswahl 
 +  * Arbeit mit Wissensrepräsentation und Wissensgraphen für Sprachmodellierung 
 + 
 + 
 +Contact: [[team:michaela_kümpel|Michaela Kümpel]] 
 + 
 +== Situational awareness in kitchen environments (MA Thesis) == 
 + 
 +This is a knowledge representation topic including knowledge graphs. The idea is so link external Web-knowledge to an existing knowledge framework in order to include situational awareness so that a robot acting in a household environment can infer what an object is used for in a given situation. 
 + 
 +A result would be that a spoon next to a bowl with cereal would be used for eating while a spoon on a stove next to a pot would be used for stirring. 
 + 
 +requirements: 
 +  * Work with KnowRob knowledge processing framework 
 +  * Work with knowledge graphs and Linked Data to create a situational awareness knowledge graph that can be linked to KnowRob 
 +  * Implement reasoning about situations (based on perceived environment) and object use 
 + 
 + 
 +Contact: [[team:michaela_kümpel|Michaela Kümpel]] 
  
-Contact: [[team:jan-hendrik_worch|Jan-Hendrik Worch]] 
- Impressum - Datenschutz



Prof. Dr. hc. Michael Beetz PhD
Head of Institute

Contact via
Andrea Cowley
assistant to Prof. Beetz
ai-office@cs.uni-bremen.de

Discover our VRB for innovative and interactive research


Memberships and associations:


Social Media: